Add asset bathroom_supplies/personal_care/89926dd92a4e5c6eab77c2bdf33fb597

.gitattributes

@@ -8006,3 +8006,4 @@ dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/afforda
 dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/89926dd92a4e5c6eab77c2bdf33fb597/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/89926dd92a4e5c6eab77c2bdf33fb597/affordance/affordance_annot.json

@@ -0,0 +1,230 @@
+{
+    "affordances": [
+        {
+            "part_name": "comb",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle end to pick up and orient the comb",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the comb body to move or place it",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the comb while using the teeth to groom hair",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "comb hair",
+                "detangle strands",
+                "provide a handhold",
+                "support grooming manipulation",
+                "orient the teeth for brushing"
+            ],
+            "semantic_description": "Single-piece dark brown comb, likely plastic or wood-like material, with a matte smooth hard surface, a rounded handle and a long row of fine rigid teeth along one side.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9833870530128479,
+                    "position": [
+                        0.09604104666505009,
+                        0.0422221003100276,
+                        -0.0013566473317041527
+                    ],
+                    "orientation": {
+                        "w": 0.707525410510632,
+                        "xyz": [
+                            0.01228260868204246,
+                            -0.706567309699921,
+                            -0.004423558425240676
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9821340441703796,
+                    "position": [
+                        0.10315929411444813,
+                        0.0017370088025927544,
+                        0.001296185208047973
+                    ],
+                    "orientation": {
+                        "w": 0.016676921552486308,
+                        "xyz": [
+                            0.7025267606906824,
+                            -0.007426821021753183,
+                            -0.7114231322711536
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9816680550575256,
+                    "position": [
+                        0.09708546905312687,
+                        0.028353764675557613,
+                        -0.0008929591676860582
+                    ],
+                    "orientation": {
+                        "w": 0.7113926000762351,
+                        "xyz": [
+                            -0.0098816143273337,
+                            -0.7024570659022935,
+                            -0.019416302917910834
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9813584685325623,
+                    "position": [
+                        0.10245046822819859,
+                        -0.002406233921647072,
+                        0.005251514394331025
+                    ],
+                    "orientation": {
+                        "w": 0.04303659068253721,
+                        "xyz": [
+                            0.7183537634507139,
+                            0.034499981921732426,
+                            -0.6934879044698758
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.981261670589447,
+                    "position": [
+                        0.10455702303443104,
+                        0.04352196212857962,
+                        0.0011927836058021057
+                    ],
+                    "orientation": {
+                        "w": 0.0005392589870978318,
+                        "xyz": [
+                            -0.7066260984310869,
+                            0.004130740004525291,
+                            0.7075748746265795
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9796042442321777,
+                    "position": [
+                        0.10145940689835697,
+                        0.02710027154535055,
+                        -0.00017998378825723194
+                    ],
+                    "orientation": {
+                        "w": 0.7103604914415492,
+                        "xyz": [
+                            0.0021123721531051552,
+                            -0.7035880358135022,
+                            -0.018638292381677135
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9794785380363464,
+                    "position": [
+                        0.1008259734371677,
+                        -0.01172372029395774,
+                        0.000733096578187542
+                    ],
+                    "orientation": {
+                        "w": 0.7078776479514061,
+                        "xyz": [
+                            0.0017550314538681297,
+                            -0.7062953887072976,
+                            -0.0072786871198379675
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9793294668197632,
+                    "position": [
+                        0.10443780629429966,
+                        -0.0031834030523896217,
+                        5.0362821411908953e-05
+                    ],
+                    "orientation": {
+                        "w": 0.02434497506732147,
+                        "xyz": [
+                            0.70104038807981,
+                            0.027743050363198685,
+                            -0.7121657248326588
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9788100719451904,
+                    "position": [
+                        0.1011594912270084,
+                        0.019522185437381268,
+                        -0.0018817141935869586
+                    ],
+                    "orientation": {
+                        "w": 0.7173061800233287,
+                        "xyz": [
+                            0.004574663268919007,
+                            -0.6965674549373934,
+                            -0.015642802765447068
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9787071943283081,
+                    "position": [
+                        0.10086387454066426,
+                        0.012822738848626614,
+                        0.0034682034929574
+                    ],
+                    "orientation": {
+                        "w": 0.6980711312735766,
+                        "xyz": [
+                            -0.00026353619290750234,
+                            -0.7158884974086922,
+                            -0.014152226292341356
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9771149158477783,
+                    "position": [
+                        -0.10418052913155407,
+                        0.03435033839195967,
+                        0.0025154935610771645
+                    ],
+                    "orientation": {
+                        "w": 0.03682420140203106,
+                        "xyz": [
+                            -0.7050050532380288,
+                            -0.013907622701977318,
+                            -0.7081090531342797
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9766407012939453,
+                    "position": [
+                        -0.10331970395054668,
+                        0.051663185469806194,
+                        -0.002779360493150307
+                    ],
+                    "orientation": {
+                        "w": 0.7080938893513633,
+                        "xyz": [
+                            0.013052481369656062,
+                            0.7058003513295308,
+                            -0.016689537335253125
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/89926dd92a4e5c6eab77c2bdf33fb597/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ed41c1e34943a537c178f6aafde1a39b25b579aa1cc1979a293049597aefcb0
+size 3828516

dataset/bathroom_supplies/personal_care/89926dd92a4e5c6eab77c2bdf33fb597/comb_006.urdf

@@ -45,16 +45,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>1</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
             </geometry>
          </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
       <quality>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>